Datasets:
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Browse files- data/chunk-000/episode_000001.parquet +3 -0
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meta/episodes_stats.jsonl
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meta/info.json
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "panda",
|
| 4 |
+
"total_episodes": 150,
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
+
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|
| 12 |
+
"train": "0:150"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"image": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
256,
|
| 21 |
+
256,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 256,
|
| 31 |
+
"video.width": 256,
|
| 32 |
+
"video.codec": "av1",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 12,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
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}
|
| 39 |
+
},
|
| 40 |
+
"wrist_image": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
256,
|
| 44 |
+
256,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channel"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
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"video.height": 256,
|
| 54 |
+
"video.width": 256,
|
| 55 |
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"video.codec": "av1",
|
| 56 |
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"video.pix_fmt": "yuv420p",
|
| 57 |
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"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 12,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"left_ego_image": {
|
| 64 |
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"dtype": "video",
|
| 65 |
+
"shape": [
|
| 66 |
+
256,
|
| 67 |
+
256,
|
| 68 |
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3
|
| 69 |
+
],
|
| 70 |
+
"names": [
|
| 71 |
+
"height",
|
| 72 |
+
"width",
|
| 73 |
+
"channel"
|
| 74 |
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],
|
| 75 |
+
"info": {
|
| 76 |
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"video.height": 256,
|
| 77 |
+
"video.width": 256,
|
| 78 |
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"video.codec": "av1",
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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"video.channels": 3,
|
| 83 |
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"has_audio": false
|
| 84 |
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}
|
| 85 |
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},
|
| 86 |
+
"state": {
|
| 87 |
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"dtype": "float32",
|
| 88 |
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"shape": [
|
| 89 |
+
7
|
| 90 |
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],
|
| 91 |
+
"names": [
|
| 92 |
+
"state_0"
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"actions": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
7
|
| 99 |
+
],
|
| 100 |
+
"names": [
|
| 101 |
+
"actions_0"
|
| 102 |
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]
|
| 103 |
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},
|
| 104 |
+
"env_state": {
|
| 105 |
+
"dtype": "float32",
|
| 106 |
+
"shape": [
|
| 107 |
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13
|
| 108 |
+
],
|
| 109 |
+
"names": [
|
| 110 |
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"env_state_0"
|
| 111 |
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]
|
| 112 |
+
},
|
| 113 |
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"active_robot": {
|
| 114 |
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"dtype": "int64",
|
| 115 |
+
"shape": [
|
| 116 |
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1
|
| 117 |
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],
|
| 118 |
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"names": [
|
| 119 |
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"active_robot_0"
|
| 120 |
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]
|
| 121 |
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},
|
| 122 |
+
"tcp_states": {
|
| 123 |
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"dtype": "float32",
|
| 124 |
+
"shape": [
|
| 125 |
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12
|
| 126 |
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],
|
| 127 |
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"names": [
|
| 128 |
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"tcp_states_0"
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
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"gripper_states": {
|
| 132 |
+
"dtype": "float32",
|
| 133 |
+
"shape": [
|
| 134 |
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1
|
| 135 |
+
],
|
| 136 |
+
"names": [
|
| 137 |
+
"gripper_states_0"
|
| 138 |
+
]
|
| 139 |
+
},
|
| 140 |
+
"gripper_commands": {
|
| 141 |
+
"dtype": "float32",
|
| 142 |
+
"shape": [
|
| 143 |
+
1
|
| 144 |
+
],
|
| 145 |
+
"names": [
|
| 146 |
+
"gripper_commands_0"
|
| 147 |
+
]
|
| 148 |
+
},
|
| 149 |
+
"qpos": {
|
| 150 |
+
"dtype": "float32",
|
| 151 |
+
"shape": [
|
| 152 |
+
9
|
| 153 |
+
],
|
| 154 |
+
"names": [
|
| 155 |
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"qpos_0"
|
| 156 |
+
]
|
| 157 |
+
},
|
| 158 |
+
"progress_state": {
|
| 159 |
+
"dtype": "float32",
|
| 160 |
+
"shape": [
|
| 161 |
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1
|
| 162 |
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],
|
| 163 |
+
"names": [
|
| 164 |
+
"progress_state_0"
|
| 165 |
+
]
|
| 166 |
+
},
|
| 167 |
+
"action_w_progress": {
|
| 168 |
+
"dtype": "float32",
|
| 169 |
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"shape": [
|
| 170 |
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8
|
| 171 |
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],
|
| 172 |
+
"names": [
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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"timestamp": {
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| 177 |
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|
| 178 |
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| 179 |
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|
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
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| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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1
|
| 208 |
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|
| 209 |
+
"names": null
|
| 210 |
+
}
|
| 211 |
+
}
|
| 212 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Put the radish in the yellow plate"}
|
| 2 |
+
{"task_index": 1, "task": "Close the drawer"}
|
| 3 |
+
{"task_index": 2, "task": "Put the glass mug next to the yellow plate"}
|
| 4 |
+
{"task_index": 3, "task": "Move the orange juice next to the yellow plate"}
|
| 5 |
+
{"task_index": 4, "task": "Move the yellow plate close to the user"}
|
| 6 |
+
{"task_index": 5, "task": "Open the drawer"}
|
| 7 |
+
{"task_index": 6, "task": "Put the radish in the drawer"}
|
| 8 |
+
{"task_index": 7, "task": "Take the radish from the drawer and put it in the yellow plate"}
|
| 9 |
+
{"task_index": 8, "task": "Put the spoon in the yellow plate"}
|
| 10 |
+
{"task_index": 9, "task": "Put the tomato in the drawer"}
|
videos/chunk-000/image/episode_000023.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:36f2fdf32d84d2ec50c79b923c8a833df15fafce056b72daaa8aa8d9c64deeff
|
| 3 |
+
size 632104
|